Path-following for linear systems with unstable zero dynamics |
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| Authors: | Dragan B. Da?i? [Author Vitae] Petar V. Kokotovi? [Author Vitae] |
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| Affiliation: | a Department of Electrical and Electronic Engineering, The University of Melbourne, Victoria 3010, Australia
b Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA 93106-9560, USA |
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| Abstract: | A constructive solution to the path-following problem for MIMO linear systems with unstable zero dynamics is developed. While the original control variable steers the system output along the path, the path parameter θ is used as an additional control to stabilize zero dynamics with a feedback law which is nonlinear due to the path constraint. A sufficient condition for solvability of the path-following problem is given in terms of the geometric properties of the path. When this condition is satisfied, an arbitrary small L2 norm of path-following error can be achieved, thus avoiding performance limitations of the standard reference tracking problem imposed by unstable zero dynamics. |
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| Keywords: | Path-following Reference tracking Unstable zero dynamics |
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